#pragma once

#include "cartographer/rcm/pose.h"

namespace cartographer
{
    class Landmark
    {
    public:
        using Ptr = std::shared_ptr<Landmark>;

        Landmark()
        {
        }

        int id;
        Pose::Ptr pose;
    };

    class Particle
    {
    public:
        using Ptr = std::shared_ptr<Particle>;

        Particle()
        {
        }

        int id;
        double weight;
        Pose::Ptr pose;
    };
} // namespace cartographer